相关论文: Adaptive Control of Heterogeneous Platoons with Gu…
As connected and autonomous vehicles become more widespread, platooning has emerged as a key strategy to improve road capacity, reduce fuel consumption, and enhance traffic flow. However, the benefits of platoons strongly depend on their…
We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a…
Platooning of connected and autonomous vehicles (CAVs) has a significant potential for throughput improvement. However, the interaction between CAVs and non-CAVs may limit the practically attainable improvement due to platooning. To better…
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…
Ensuring safety is the most important factor in connected and autonomous vehicles, especially in emergency braking situations. As such, assessing the safety benefits of one information topology over other is a necessary step towards…
Platooning connected and autonomous vehicles (CAVs) can improve traffic and fuel efficiency. However, scalable platooning operations require junction-level coordination, which has not been well studied. In this paper, we study the…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
By sharing local sensor information via Vehicle-to-Vehicle (V2V) wireless communication networks, Cooperative Adaptive Cruise Control (CACC) is a technology that enables Connected and Automated Vehicles (CAVs) to drive autonomously on the…
A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…
This paper presents an adaptive leading cruise control strategy for the connected and automated vehicle (CAV) and first considers its impact on the following human-driven vehicle (HDV) with diverse driving characteristics in the unified…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…
CAV platooning technology has received considerable attention in the past few years, driven by the next generation smart transportation systems. Unlike most of the existing platooning methods that focus on linear vehicle dynamics of CAVs,…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
With the recently increasing capabilities of modern vehicles, novel approaches for interaction emerged that go beyond traditional touch-based and voice command approaches. Therefore, hand gestures, head pose, eye gaze, and speech have been…
This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…
Platooning allows vehicles to travel with small intervehicle distance in a coordinated fashion thanks to vehicle-to-vehicle connectivity. When applied at a larger scale, platooning will create significant opportunities for energy savings…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
Safely integrating unmanned aerial vehicles into civil airspace is contingent upon development of a trustworthy collision avoidance system. This paper proposes an approach whereby a parameterized resolution logic that is considered trusted…